JP2019182414A - 自動運転車に対して障害物の予測軌跡を生成するための方法 - Google Patents
自動運転車に対して障害物の予測軌跡を生成するための方法 Download PDFInfo
- Publication number
- JP2019182414A JP2019182414A JP2019077263A JP2019077263A JP2019182414A JP 2019182414 A JP2019182414 A JP 2019182414A JP 2019077263 A JP2019077263 A JP 2019077263A JP 2019077263 A JP2019077263 A JP 2019077263A JP 2019182414 A JP2019182414 A JP 2019182414A
- Authority
- JP
- Japan
- Prior art keywords
- obstacle
- movement trajectory
- trajectory
- polynomial function
- lateral
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000033001 locomotion Effects 0.000 claims abstract description 123
- 230000006870 function Effects 0.000 claims abstract description 70
- 238000012545 processing Methods 0.000 claims description 27
- 230000008569 process Effects 0.000 claims description 21
- 230000008447 perception Effects 0.000 abstract 1
- 230000001133 acceleration Effects 0.000 description 17
- 238000004891 communication Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 11
- 230000003287 optical effect Effects 0.000 description 5
- 238000005457 optimization Methods 0.000 description 5
- 238000007405 data analysis Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 230000001413 cellular effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000002085 persistent effect Effects 0.000 description 2
- 238000012890 quintic function Methods 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 230000010267 cellular communication Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000009429 electrical wiring Methods 0.000 description 1
- 239000012634 fragment Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 229910044991 metal oxide Inorganic materials 0.000 description 1
- 150000004706 metal oxides Chemical class 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000010076 replication Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000010897 surface acoustic wave method Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/06—Direction of travel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4042—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4044—Direction of movement, e.g. backwards
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Electromagnetism (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Mathematical Physics (AREA)
- Mathematical Optimization (AREA)
- Data Mining & Analysis (AREA)
- Pure & Applied Mathematics (AREA)
- Mathematical Analysis (AREA)
- Computational Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Optics & Photonics (AREA)
- General Engineering & Computer Science (AREA)
- Software Systems (AREA)
- Databases & Information Systems (AREA)
- Business, Economics & Management (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Game Theory and Decision Science (AREA)
- Medical Informatics (AREA)
- Algebra (AREA)
- Operations Research (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Acoustics & Sound (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Claims (21)
- 自動運転期間に障害物の軌跡を予測するためのコンピュータ実施方法であって、
車線内に運転されている自動運転車(ADV)の周囲の運転環境が感知された感知データに基いて、障害物が起点から終点まで移動することを予測するステップと、
前記車線の形状に応じて、前記起点から前記終点までの縦方向移動軌跡を生成するステップと、
前記起点から前記終点までの横方向移動軌跡を生成するステップであって、第一の多項式関数を使用して前記横方向移動軌跡の形状を最適化する、ステップと、
前記縦方向移動軌跡と前記横方向移動軌跡を組合わせて、前記障害物が如何に移動するかを予測する予測軌跡を生成するステップと、
前記障害物の前記予測軌跡に基づいて、前記自動運転車の移動を制御するステップと、
を含む方法。 - 前記障害物の現在の進行方向に基づいて平滑軌跡を生成するように、前記縦方向移動軌跡と前記横方向移動軌跡を最適化する、請求項1に記載の方法。
- 前記第一の多項式関数は五次多項式関数である請求項1に記載の方法。
- 前記障害物の現在状態に基いて、前記障害物の前記起点に関連付けられた1セットの初期横方向状態を確定するステップと、
前記障害物の現在状態に基いて、前記終点に関連付けられた1セットの終了横方向状態を確定するステップと、を更に含み、
前記初期横方向状態と前記終了横方向状態は、前記横方向移動軌跡を最適化するように、前記第一の多項式関数の第一セットの制約条件として用いられる請求項1に記載の方法。 - 縦方向移動軌跡を生成するステップは、第二の多項式関数を使用して前記縦方向移動軌跡の形状を最適化するステップを含む請求項1に記載の方法。
- 前記第二の多項式関数は四次多項式関数である請求項5に記載の方法。
- 前記障害物の現在状態に基いて、前記障害物の前記起点に関連付けられた1セットの初期縦方向状態を確定するステップと、
前記障害物の現在状態に基いて、前記終点に関連付けられた1セットの終了縦方向状態を確定するステップと、を更に含み、
前記初期縦方向状態と前記終了縦方向状態は、前記縦方向移動軌跡を最適化するように、前記第二の多項式関数の第二セットの制約条件として用いられる請求項5に記載の方法。 - 指令が記憶された非一時的な機械可読媒体であって、
前記指令がプロセッサにより実行されると、前記プロセッサに処理を実行させ、前記処理は、
車線内に運転されている自動運転車(ADV)の周囲の運転環境が感知された感知データに基いて、障害物が起点から終点まで移動することを予測するステップと、
前記車線の形状に応じて、前記起点から前記終点までの縦方向移動軌跡を生成するステップと、
前記起点から前記終点までの横方向移動軌跡を生成するステップであって、第一の多項式関数を使用して前記横方向移動軌跡の形状を最適化する、ステップと、
前記縦方向移動軌跡と前記横方向移動軌跡を組合わせて、前記障害物が如何に移動するかを予測する予測軌跡を生成するステップと、
前記障害物の前記予測軌跡に基づいて、前記自動運転車の移動を制御するステップと、
を含む機械可読媒体。 - 前記障害物の現在の進行方向に基づいて平滑軌跡を生成するように、前記縦方向移動軌跡と前記横方向移動軌跡を最適化する、請求項8に記載の機械可読媒体。
- 前記第一の多項式関数は五次多項式関数である請求項8に記載の機械可読媒体。
- 前記処理は、
前記障害物の現在状態に基いて、前記障害物の前記起点に関連付けられた1セットの初期横方向状態を確定するステップと、
前記障害物の現在状態に基いて、前記終点に関連付けられた1セットの終了横方向状態を確定するステップと、を更に含み、
前記初期横方向状態と前記終了横方向状態は、前記横方向移動軌跡を最適化するように、前記第一の多項式関数の第一セットの制約条件として用いられる請求項8に記載の機械可読媒体。 - 縦方向移動軌跡を生成するステップは、第二の多項式関数を使用して前記縦方向移動軌跡の形状を最適化するステップを含む請求項8に記載の機械可読媒体。
- 前記第二の多項式関数は四次多項式関数である請求項12に記載の機械可読媒体。
- 前記処理は、
前記障害物の現在状態に基いて、前記障害物の前記起点に関連付けられた1セットの初期縦方向状態を確定するステップと、
前記障害物の現在状態に基いて、前記終点に関連付けられた1セットの終了縦方向状態を確定するステップと、を更に含み、
前記初期縦方向状態と前記終了縦方向状態は、前記縦方向移動軌跡を最適化するように、前記第二の多項式関数の第二セットの制約条件として用いられる請求項12に記載の機械可読媒体。 - データ処理システムであって、
プロセッサと、
前記プロセッサに接続されて指令を記憶するメモリと、を備え、
前記指令が前記プロセッサにより実行されると、前記プロセッサに処理を実行させ、前記処理は、
車線内に運転されている自動運転車(ADV)の周囲の運転環境が感知された感知データに基いて、障害物が起点から終点まで移動することを予測するステップと、
前記車線の形状に応じて、前記起点から前記終点までの縦方向移動軌跡を生成するステップと、
前記起点から前記終点までの横方向移動軌跡を生成するステップであって、第一の多項式関数を使用して前記横方向移動軌跡の形状を最適化する、ステップと、
前記縦方向移動軌跡と前記横方向移動軌跡を組合わせて、前記障害物が如何に移動するかを予測する予測軌跡を生成するステップと、
前記障害物の前記予測軌跡に基づいて、前記自動運転車の移動を制御するステップと、
を含むシステム。 - 前記障害物の現在の進行方向に基づいて平滑軌跡を生成するように、前記縦方向移動軌跡と前記横方向移動軌跡を最適化する請求項15に記載のシステム。
- 前記第一の多項式関数は五次多項式関数である請求項15に記載のシステム。
- 前記処理は、
前記障害物の現在状態に基いて、前記障害物の前記起点に関連付けられた1セットの初期横方向状態を確定するステップと、
前記障害物の現在状態に基いて、前記終点に関連付けられた1セットの終了横方向状態を確定するステップと、を更に含み、
前記初期横方向状態と前記終了横方向状態は、前記横方向移動軌跡を最適化するように、前記第一の多項式関数の第一セットの制約条件として用いられる請求項15に記載のシステム。 - 縦方向移動軌跡を生成するステップは、第二の多項式関数を使用して前記縦方向移動軌跡の形状を最適化するステップを含む請求項15に記載のシステム。
- 前記第二の多項式関数は四次多項式関数である請求項19に記載のシステム。
- 前記処理は、
前記障害物の現在状態に基いて、前記障害物の前記起点に関連付けられた1セットの初期縦方向状態を確定するステップと、
前記障害物の現在状態に基いて、前記終点に関連付けられた1セットの終了縦方向状態を確定するステップと、を更に含み、
前記初期縦方向状態と前記終了縦方向状態は、前記縦方向移動軌跡を最適化するように、前記第二の多項式関数の第二セットの制約条件として用いられる請求項19に記載のシステム。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/955,498 US11378961B2 (en) | 2018-04-17 | 2018-04-17 | Method for generating prediction trajectories of obstacles for autonomous driving vehicles |
US15/955,498 | 2018-04-17 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019182414A true JP2019182414A (ja) | 2019-10-24 |
JP6748259B2 JP6748259B2 (ja) | 2020-08-26 |
Family
ID=68161693
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019077263A Active JP6748259B2 (ja) | 2018-04-17 | 2019-04-15 | 自動運転車に対して障害物の予測軌跡を生成するための方法 |
Country Status (3)
Country | Link |
---|---|
US (1) | US11378961B2 (ja) |
JP (1) | JP6748259B2 (ja) |
CN (1) | CN110389581B (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2021133832A1 (en) * | 2019-12-27 | 2021-07-01 | Waymo Llc | Conditional behavior prediction for autonomous vehicles |
Families Citing this family (41)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11718303B2 (en) * | 2018-01-03 | 2023-08-08 | Toyota Research Institute, Inc. | Vehicles and methods for building vehicle profiles based on reactions created by surrounding vehicles |
US10795367B2 (en) | 2018-01-11 | 2020-10-06 | Uatc, Llc | Mapped driving paths for autonomous vehicle |
SG11202103372XA (en) * | 2018-10-01 | 2021-04-29 | Op Solutions Llc | Methods and systems of exponential partitioning |
TWI674984B (zh) * | 2018-11-15 | 2019-10-21 | 財團法人車輛研究測試中心 | 自動駕駛車輛之行駛軌跡規劃系統及方法 |
CN109814568B (zh) * | 2019-02-19 | 2022-05-03 | 阿波罗智能技术(北京)有限公司 | 无人车速度轨迹的生成方法、装置和存储介质 |
US11603098B2 (en) * | 2019-08-27 | 2023-03-14 | GM Global Technology Operations LLC | Systems and methods for eye-tracking data collection and sharing |
CN110895406B (zh) * | 2019-11-11 | 2021-02-02 | 北京三快在线科技有限公司 | 一种基于干扰物轨迹规划的无人设备的测试方法及装置 |
CN111027195B (zh) * | 2019-12-03 | 2023-02-28 | 阿波罗智能技术(北京)有限公司 | 仿真场景的生成方法、装置及设备 |
US11860634B2 (en) * | 2019-12-12 | 2024-01-02 | Baidu Usa Llc | Lane-attention: predicting vehicles' moving trajectories by learning their attention over lanes |
US11061403B2 (en) * | 2019-12-12 | 2021-07-13 | Baidu Usa Llc | Path planning with a preparation distance for a lane-change |
EP3891571A4 (en) * | 2020-02-26 | 2021-12-22 | Baidu.com Times Technology (Beijing) Co., Ltd. | TRAJECTORY PLANNING WITH OBSTACLE AVOIDANCE FOR AUTONOMOUS VEHICLES |
US11520338B2 (en) * | 2020-02-27 | 2022-12-06 | Uatc, Llc | Systems and methods for vehicle spatial path sampling |
CN111380555A (zh) * | 2020-02-28 | 2020-07-07 | 北京京东乾石科技有限公司 | 车辆行为预测方法及装置、电子设备、存储介质 |
CN111338353A (zh) * | 2020-03-26 | 2020-06-26 | 吉林大学 | 一种动态驾驶环境下智能车辆变道轨迹规划方法 |
CN111537950B (zh) * | 2020-04-14 | 2023-04-21 | 哈尔滨工业大学 | 一种基于位置指纹和二步多项式拟合的卫星位置预测跟踪方法 |
CN113625698B (zh) * | 2020-04-23 | 2024-05-03 | 纳恩博(常州)科技有限公司 | 控制车辆转向的方法、装置和存储介质 |
CN113721598A (zh) * | 2020-05-11 | 2021-11-30 | 北京京东乾石科技有限公司 | 一种障碍物轨迹预测方法、装置、设备和存储介质 |
US11904890B2 (en) * | 2020-06-17 | 2024-02-20 | Baidu Usa Llc | Lane change system for lanes with different speed limits |
CN111650945B (zh) * | 2020-06-28 | 2023-10-24 | 北京智行者科技股份有限公司 | 动态障碍物防撞方法 |
CN111879319B (zh) * | 2020-06-29 | 2023-10-20 | 中国科学院合肥物质科学研究院 | 用于地面无人平台的室内测试方法、系统及计算机设备 |
CN112179344A (zh) * | 2020-08-28 | 2021-01-05 | 达闼机器人有限公司 | 基于机器人坐标系的轨迹生成方法、装置及计算设备 |
CN114550474B (zh) * | 2020-11-24 | 2023-03-03 | 华为技术有限公司 | 一种横向规划约束确定方法及装置 |
CN112519783B (zh) * | 2020-12-04 | 2021-11-19 | 中南大学 | 一种智能驾驶的自底向上平滑轨迹生成方法及系统 |
CN114708723B (zh) * | 2020-12-16 | 2023-07-21 | 华为技术有限公司 | 轨迹预测方法和装置 |
US11738772B1 (en) * | 2020-12-18 | 2023-08-29 | Zoox, Inc. | Object avoidance with perceived safety subgoal |
CN114692289A (zh) * | 2020-12-31 | 2022-07-01 | 华为技术有限公司 | 自动驾驶算法测试方法及相关设备 |
CN113341824A (zh) * | 2021-06-17 | 2021-09-03 | 鄂尔多斯市普渡科技有限公司 | 一种开放式自动驾驶避障控制系统及控制方法 |
CN113386766B (zh) * | 2021-06-17 | 2022-09-23 | 东风汽车集团股份有限公司 | 一种连续的、周期自适应同步的在线轨迹规划系统及方法 |
CN113359763A (zh) * | 2021-07-05 | 2021-09-07 | 广州蓝胖子移动科技有限公司 | 轮式机器人及动态障碍物轨迹预测方法、装置、存储介质 |
CN113788015B (zh) * | 2021-08-04 | 2023-04-18 | 杭州飞步科技有限公司 | 车辆轨迹的确定方法、装置、设备以及存储介质 |
CN113753077A (zh) * | 2021-08-17 | 2021-12-07 | 北京百度网讯科技有限公司 | 预测障碍物的运动轨迹的方法、装置及自动驾驶车辆 |
CN113553482B (zh) * | 2021-09-18 | 2022-02-01 | 深圳市城市交通规划设计研究中心股份有限公司 | 停留点识别和出行链构建系统、算法、设备及存储介质 |
CN113963535B (zh) * | 2021-09-30 | 2023-01-13 | 华为技术有限公司 | 行驶决策确定方法、装置、电子设备存储介质 |
CN114167860B (zh) * | 2021-11-24 | 2023-07-07 | 东风商用车有限公司 | 一种自动驾驶最优轨迹生成方法及装置 |
CN115230688B (zh) * | 2021-12-07 | 2023-08-25 | 上海仙途智能科技有限公司 | 障碍物轨迹预测方法、系统和计算机可读存储介质 |
US20230303117A1 (en) * | 2022-03-14 | 2023-09-28 | Argo AI, LLC | Method and system for assessing whether a vehicle is likely to leave an off-road parking area |
CN115123252B (zh) * | 2022-07-05 | 2023-03-31 | 小米汽车科技有限公司 | 车辆控制方法、装置、车辆及存储介质 |
CN115355916B (zh) * | 2022-10-24 | 2023-03-03 | 北京智行者科技股份有限公司 | 移动工具的轨迹规划方法、设备和计算机可读存储介质 |
CN117389276B (zh) * | 2023-11-05 | 2024-05-28 | 理工雷科智途(北京)科技有限公司 | 一种基于行驶风险预测的无人车行驶路径跟踪控制方法 |
CN117962932B (zh) * | 2024-04-02 | 2024-06-11 | 福瑞泰克智能系统有限公司 | 障碍物的行驶轨迹生成方法、装置和存储介质及电子设备 |
CN118107575A (zh) * | 2024-04-30 | 2024-05-31 | 新石器中研(上海)科技有限公司 | 碰撞检查方法、控制装置、可读存储介质及驾驶设备 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007534041A (ja) * | 2003-09-23 | 2007-11-22 | ダイムラークライスラー・アクチェンゲゼルシャフト | 車両用の車線変更運転認識方法及び装置 |
US9227632B1 (en) * | 2014-08-29 | 2016-01-05 | GM Global Technology Operations LLC | Method of path planning for evasive steering maneuver |
US20170186322A1 (en) * | 2015-12-18 | 2017-06-29 | GM Global Technology Operations LLC | Method to determine an evasion trajectory for a vehicle |
JP2019128962A (ja) * | 2018-01-26 | 2019-08-01 | バイドゥ・ユーエスエイ・リミテッド・ライアビリティ・カンパニーBaidu USA LLC | 自動運転車のための経路及び速度の最適化フォールバックメカニズム[path and speed optimization fallback mechanism for autonomous vehicles] |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5130638B2 (ja) * | 2006-03-22 | 2013-01-30 | 日産自動車株式会社 | 回避操作算出装置、回避制御装置、各装置を備える車両、回避操作算出方法および回避制御方法 |
JP4062353B1 (ja) | 2006-11-10 | 2008-03-19 | トヨタ自動車株式会社 | 障害物進路予測方法、装置、およびプログラム |
JP5244787B2 (ja) | 2007-03-29 | 2013-07-24 | トヨタ自動車株式会社 | 衝突可能性取得装置および衝突可能性取得方法 |
JP5251216B2 (ja) | 2007-07-31 | 2013-07-31 | 日産自動車株式会社 | 車両用走行制御装置および車両用走行制御方法 |
US8612109B2 (en) * | 2007-07-31 | 2013-12-17 | Nissan Motor Co., Ltd. | Vehicular running control apparatus and vehicular running control method |
KR101672133B1 (ko) * | 2015-05-12 | 2016-11-16 | 한양대학교 산학협력단 | 차량 궤적 예측 장치 및 방법과, 이를 이용한 적응식 정속 주행 시스템 |
CN107240299B (zh) | 2017-07-20 | 2021-07-13 | 北京纵目安驰智能科技有限公司 | 自主驾驶车辆对移动物体识别以及车辆避障的方法 |
CN107346611B (zh) | 2017-07-20 | 2021-03-23 | 北京纵目安驰智能科技有限公司 | 一种自主驾驶的车辆的避障方法以及避障系统 |
DE102017118651A1 (de) * | 2017-08-16 | 2019-02-21 | Valeo Schalter Und Sensoren Gmbh | Verfahren und System zur Kollisionsvermeidung eines Fahrzeugs |
-
2018
- 2018-04-17 US US15/955,498 patent/US11378961B2/en active Active
- 2018-12-25 CN CN201811590129.7A patent/CN110389581B/zh active Active
-
2019
- 2019-04-15 JP JP2019077263A patent/JP6748259B2/ja active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007534041A (ja) * | 2003-09-23 | 2007-11-22 | ダイムラークライスラー・アクチェンゲゼルシャフト | 車両用の車線変更運転認識方法及び装置 |
US9227632B1 (en) * | 2014-08-29 | 2016-01-05 | GM Global Technology Operations LLC | Method of path planning for evasive steering maneuver |
US20170186322A1 (en) * | 2015-12-18 | 2017-06-29 | GM Global Technology Operations LLC | Method to determine an evasion trajectory for a vehicle |
JP2019128962A (ja) * | 2018-01-26 | 2019-08-01 | バイドゥ・ユーエスエイ・リミテッド・ライアビリティ・カンパニーBaidu USA LLC | 自動運転車のための経路及び速度の最適化フォールバックメカニズム[path and speed optimization fallback mechanism for autonomous vehicles] |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2021133832A1 (en) * | 2019-12-27 | 2021-07-01 | Waymo Llc | Conditional behavior prediction for autonomous vehicles |
Also Published As
Publication number | Publication date |
---|---|
US11378961B2 (en) | 2022-07-05 |
US20190317511A1 (en) | 2019-10-17 |
JP6748259B2 (ja) | 2020-08-26 |
CN110389581A (zh) | 2019-10-29 |
CN110389581B (zh) | 2022-07-19 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6748259B2 (ja) | 自動運転車に対して障害物の予測軌跡を生成するための方法 | |
JP6861238B2 (ja) | 自動運転車の車線変更軌跡を確定するための方法 | |
EP3517893B1 (en) | Path and speed optimization fallback mechanism for autonomous vehicles | |
JP6748244B2 (ja) | 自動運転車に用いられる学習に基づく速度計画装置 | |
CN111824139B (zh) | 用于预测与自动驾驶车辆相关的运动对象的运动的方法 | |
JP6667686B2 (ja) | 自動運転車両のための走行軌跡生成方法、システム及び機械可読媒体 | |
JP2019206327A (ja) | 自動運転車両の軌道の生成方法 | |
CN110389580B (zh) | 用于规划自动驾驶车辆的路径的漂移校正的方法 | |
JP2019194073A (ja) | 自動運転車の軌跡候補を評価するための方法 | |
CN111123906B (zh) | 不同横向加速度约束下的最优纵向轨迹生成 | |
JP2019138903A (ja) | 加速カーブの投影に用いられるシステム及び方法 | |
JP2020066428A (ja) | 自動運転車両のための人間の運転行動を模倣する2段階基準線平滑化方法 | |
CN111615618B (zh) | 用于自动驾驶车辆的高速规划的基于多项式拟合的参考线平滑方法 | |
CN111615476B (zh) | 用于自动驾驶车辆的基于螺旋曲线的竖直停车规划系统 | |
US11048252B2 (en) | Optimal path generation for static obstacle avoidance | |
CN111328313B (zh) | 用于自动驾驶车辆的控制占主导的三点转弯规划 | |
CN111328385B (zh) | 用于自动驾驶车辆的基于螺旋路径的三点转弯规划 | |
US11073834B2 (en) | Path generation for static obstacle avoidance | |
CN113226825A (zh) | 自动驾驶车辆的基于扭矩反馈的车辆纵向自动校准系统 | |
CN111649751B (zh) | 一种用于参考线平滑的超自由缝合方法 | |
CN112272805A (zh) | 连接两条平滑参考线的基于多点增强的拼接方法 | |
CN111801638B (zh) | 基于枚举的自动驾驶车辆的三点转弯规划 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20190426 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20190426 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20200306 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20200317 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20200617 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20200804 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20200806 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6748259 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |